Public Member Functions
PointCloud	create_from_xyz_image (cls, XYZImage xyz_image, Union[Image, ids_peak_ipl.Image, None] intensity_image=None)
	Creates a point cloud from a xyz image and optional metadata.

PointCloud	create_from_undistorted_depth_map (cls, UndistortedImage undistorted_depth_map, Union[Image, ids_peak_ipl.Image, None] intensity_image=None)
	Creates a point cloud from an undistorted depth map and optional metadata.

PointCloud	create_from_points (cls, Union[XYZArray, XYZIArray] points, PointCloudPointType point_type)
	Creates a point cloud from points.

PointCloud	create_from_file (cls, str file_path, PointCloudPointType point_type=PointCloudPointType.XYZ)
	Loads a point cloud from a file.

None	__init__ (self, Any args, *Any kwargs)
	In order to create a point cloud, please refer to the class methods.

PointCloud	transform (self, npt.NDArray matrix)
	Applies a transformation of a point cloud based on the given matrix.

PointCloud	transform_to_workspace (self, ExtrinsicParameters extrinsic_parameters)
	Transforms a point cloud to the workspace coordinate system using the extrinsic parameters.

Union[XYZArray, XYZIArray]	points (self)
	Get the points of the point cloud.

bool	__eq__ (self, object other)
	Check if two point clouds are equal.

bool	__ne__ (self, object other)
	Check if two point clouds are not equal.

None	__del__ (self)

str	__repr__ (self)
	Get a string representation of the Point Cloud represented by points.

None	save (self, str file_path)
	Saves point cloud to file.

Data Fields
	points

list	_sorted_points_cache = [PointXYZ(p[0], p[1], p[2]) for p in other]

Protected Member Functions
None	_init_points (self, Type[ctypes.Structure] c_type, Type python_type, Callable[[ctypes.Array], Iterable[Any]] func)

None	_init_point_type (self)

Protected Attributes
	_handle = None

np.ndarray\|None	_sorted_points_cache = None

np.ndarray\|None	_points = None

	_point_type = None

Detailed Description

A point cloud is a set of data points defined in a three-dimensional (3D) coordinate system.

Each point is represented by its X, Y, and Z coordinates, specifying its exact position in 3D space. Optionally it can contain intensity metadata. Point clouds are often generated from depth maps, such as those obtained from a time-of-flight camera. They serve as a detailed digital representation of the shape and size of physical objects, enabling precise measurements and analysis.

Since: ids_peak_icv 1.1

Definition at line 50 of file point_cloud.py.

Constructor & Destructor Documentation

◆ init()

None __init__	(		self,
		*Any	args,
		**Any	kwargs )

In order to create a point cloud, please refer to the class methods.

Since: ids_peak_icv 1.1

Definition at line 191 of file point_cloud.py.

◆ del()

None __del__ ( self )

Definition at line 370 of file point_cloud.py.

Member Function Documentation

◆ eq()

bool __eq__	(		self,
		object	other )

Check if two point clouds are equal.

Parameters

other Another point cloud object

Returns: True if point clouds are equal, False otherwise

Since: ids_peak_icv 1.1

Definition at line 317 of file point_cloud.py.

◆ ne()

bool __ne__	(		self,
		object	other )

Check if two point clouds are not equal.

Parameters

other Another point cloud object

Returns: True if point clouds are not equal, False otherwise

Since: ids_peak_icv 1.1

Definition at line 357 of file point_cloud.py.

◆ repr()

str __repr__ ( self )

Get a string representation of the Point Cloud represented by points.

Returns: String representation of the Point Cloud

Since: ids_peak_icv 1.1

Definition at line 374 of file point_cloud.py.

◆ _init_point_type()

None _init_point_type ( self )

protected

Definition at line 437 of file point_cloud.py.

◆ _init_points()

None _init_points	(		self,
		Type[ctypes.Structure]	c_type,
		Type	python_type,
		Callable[[ctypes.Array], Iterable[Any]]	func )

protected

Definition at line 412 of file point_cloud.py.

◆ create_from_file()

PointCloud create_from_file	(		cls,
		str	file_path,
		PointCloudPointType	point_type = PointCloudPointType.XYZ )

Loads a point cloud from a file.

The chosen file type is determined by the given extension.

The following file formats are supported:

[PLY]

Parameters

file_path	The file is loaded from the file path, which should encompass both the directory path and the filename.
point_type	Defines whether the point cloud is loaded with or without meta information and how the meta information is interpreted.

Returns: The point cloud, which was loaded from the file.

Exceptions

IOException If the specified file path is invalid, you lack the necessary permissions, or the file already exists.

Since: ids_peak_icv 1.1

Definition at line 157 of file point_cloud.py.

◆ create_from_points()

PointCloud create_from_points	(		cls,
		Union[XYZArray, XYZIArray]	points,
		PointCloudPointType	point_type )

Creates a point cloud from points.

Parameters

points	An array of PointXYZ or PointXYZI.
point_type	The type of point.

Returns: Created point cloud instance

Exceptions

MismatchException If Parameter points is not a numpy array of PointXYZ or PointXYZI objects matching the point_type.

Since: ids_peak_icv 1.1

Definition at line 107 of file point_cloud.py.

◆ create_from_undistorted_depth_map()

PointCloud create_from_undistorted_depth_map	(		cls,
		UndistortedImage	undistorted_depth_map,
		Union[ Image, ids_peak_ipl.Image, None]	intensity_image = None )

Creates a point cloud from an undistorted depth map and optional metadata.

Note: The region of the metadata image is disregarded.

Parameters

undistorted_depth_map	Undistorted image providing the radial depth information.
intensity_image	Image that holds the meta information (e.g. an intensity image).

Returns: Created point cloud instance

Exceptions

MismatchException If the undistorted_depth_map and the intensity image don't have the same size.

Since: ids_peak_icv 1.1

Definition at line 86 of file point_cloud.py.

◆ create_from_xyz_image()

PointCloud create_from_xyz_image	(		cls,
		XYZImage	xyz_image,
		Union[Image, ids_peak_ipl.Image, None]	intensity_image = None )

Creates a point cloud from a xyz image and optional metadata.

Note: The region of the metadata image is disregarded.

Parameters

xyz_image	XYZ image providing the spatial information.
intensity_image	Image that holds the meta information (e.g. an intensity image).

Returns: Created point cloud instance

Exceptions

MismatchException If the xyz_image and the intensity image don't have the same size.

Since: ids_peak_icv 1.1

Definition at line 67 of file point_cloud.py.

◆ points()

Union[XYZArray, XYZIArray] points ( self )

Get the points of the point cloud.

Returns: List of Point objects representing the point clouds points.

Since: ids_peak_icv 1.1

Definition at line 292 of file point_cloud.py.

◆ save()

None save	(		self,
		str	file_path )

Saves point cloud to file.

The chosen file type is determined by the given extension.

The following file formats are supported:

[PLY](only binary)

If no file extension is provided, .ply is automatically added.

Note: If a point cloud does not contain any points it cannot be written to file.

Parameters

file_path The file is saved to the file_path, which should encompass both the directory path and the filename.

Exceptions

IOException	If the specified file path is invalid or lacks write permissions.
NotSupportedException	If the specified file extension or point type is not supported or the point cloud is empty.

Since: ids_peak_icv 1.1

Definition at line 385 of file point_cloud.py.

◆ transform()

PointCloud transform	(		self,
		npt.NDArray	matrix )

Applies a transformation of a point cloud based on the given matrix.

Parameters

matrix The transformation matrix

Returns: A new transformed point cloud.

Exceptions

NotPossibleException If the dtype of numpy array isn't type float32 or the matrix size isn't 4x4.

Since: ids_peak_icv 1.1

Definition at line 238 of file point_cloud.py.

◆ transform_to_workspace()

PointCloud transform_to_workspace	(		self,
		ExtrinsicParameters	extrinsic_parameters )

Transforms a point cloud to the workspace coordinate system using the extrinsic parameters.

The point cloud is transformed from the camera coordinate system to the workspace coordinate system using the inverse of the extrinsic parameters.

Parameters

extrinsic_parameters Extrinsic parameters of the workspace calibration.

Returns: A new transformed point cloud.

Since: ids_peak_icv 1.1

Definition at line 267 of file point_cloud.py.

Field Documentation

◆ _handle

_handle = None

protected

Definition at line 199 of file point_cloud.py.

◆ _point_type

_point_type = None

protected

Definition at line 202 of file point_cloud.py.

◆ _points

_points = None

protected

Definition at line 201 of file point_cloud.py.

◆ _sorted_points_cache [1/2]

_sorted_points_cache = None

protected

Definition at line 200 of file point_cloud.py.

◆ _sorted_points_cache [2/2]

list _sorted_points_cache = [PointXYZ(p[0], p[1], p[2]) for p in other]

Definition at line 345 of file point_cloud.py.

◆ points

points

Definition at line 341 of file point_cloud.py.

Public Member Functions

Data Fields

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ __init__()

◆ __del__()

Member Function Documentation

◆ __eq__()

◆ __ne__()

◆ __repr__()

◆ _init_point_type()

◆ _init_points()

◆ create_from_file()

◆ create_from_points()

◆ create_from_undistorted_depth_map()

◆ create_from_xyz_image()

◆ points()

◆ save()

◆ transform()

◆ transform_to_workspace()

Field Documentation

◆ _handle

◆ _point_type

◆ _points

◆ _sorted_points_cache [1/2]

◆ _sorted_points_cache [2/2]

◆ points

◆ init()

◆ del()

◆ eq()

◆ ne()

◆ repr()